Earlier quoted context omitted.
I'm not entirely sure what you mean by "rote manner of interaction that I don't know, and don't want to learn." If you mean the talking about the weather thing, that's what talking people in bars should teach you to get beyond.
No, it isn't small talk. It's people expecting me to act in a certain way and not liking it when I don't. Maybe I'm just wanting two conflicting goals. The expected way of acting is natural for most people, but not for me, and I wish I could interact in a way that is natural for me too. I think I'll give the bar thing a shot. Any types of people I should watch out for?
I'd say work your way up to attractive women. They're the hardest for a number of reasons (you're afraid of them due to approach anxiety, they're used to approaches and are more on their guard, etc.) Start off talking to guys and less attractive females. People are always most receptive toward people who appear to be in their own demographic and social status level, so start there and work your way out.